WO2018179185A1 - Motion control device and external display device - Google Patents

Motion control device and external display device Download PDF

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Publication number
WO2018179185A1
WO2018179185A1 PCT/JP2017/013077 JP2017013077W WO2018179185A1 WO 2018179185 A1 WO2018179185 A1 WO 2018179185A1 JP 2017013077 W JP2017013077 W JP 2017013077W WO 2018179185 A1 WO2018179185 A1 WO 2018179185A1
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WIPO (PCT)
Prior art keywords
output
unit
input
module
control
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PCT/JP2017/013077
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French (fr)
Japanese (ja)
Inventor
陽 ▲高▼橋
友典 安藤
史雄 米谷
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三菱電機株式会社
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Priority to PCT/JP2017/013077 priority Critical patent/WO2018179185A1/en
Priority to JP2018506457A priority patent/JPWO2018179185A1/en
Publication of WO2018179185A1 publication Critical patent/WO2018179185A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction

Definitions

  • the present invention relates to a motion control device and an external display device for controlling the operation of a machine or device having a drive device.
  • a synchronous encoder is attached to a rotating body serving as a reference for the synchronous control, and in the method of driving the target servo motor according to the signal, an encoder (master axis) that determines the timing of the synchronous control is used.
  • Electronic cam control that realizes synchronous control using cam data that associates the phase (position within one rotation) with the position of a servo motor (slave axis) to be controlled is widely known.
  • Patent Document 1 a synchronous control program having a plurality of output software modules for one drive software module is displayed on one screen as a setting means for electronic cam control, and a parameter setting screen is displayed on this screen.
  • a multi-axis synchronous control device is disclosed in which status information of each software module or a waveform graph of a drive software module or an output software module is displayed and this display is switched to set electronic cam control.
  • Patent Document 2 when IO (Input Output) control of a peripheral device is performed in accordance with the timing of synchronous control of a servo motor, the state of the IO signal in addition to the cam data of the electronic cam control A technique is disclosed in which data is also stored and output again at the time of occurrence of an abnormality or at the time of adjustment to operate the control symmetry axis in the reverse direction, and further repeatedly forward and reverse.
  • IO Input Output
  • Patent Document 1 which is one of the above-described conventional examples, the work from software design to debugging can be performed only by setting parameters, but the object of electronic cam control is a servo motor.
  • the position is limited to the position of the signal, and it is not intended for signals other than the position of the servo motor, such as controlling the speed or torque, such as digital signal ON / OFF and analog operation amount.
  • IO control such as OFF and analog operation amount
  • a separate program needs to be created using a ladder language.
  • the electronic cam control is not intended for the IO control, there is a problem that the synchronization between the electronic cam control and the IO control cannot be guaranteed, and the timing adjustment between the electronic cam control and the IO control is not easy.
  • Patent Document 2 which is one of the above-described conventional examples, it is possible to realize IO control in conjunction with servo cam electronic cam control.
  • the state of the IO signal generated by the program created using the ladder language is simultaneously recorded in the cam data between the master and slave axes, and the operation is reproduced. Or, in the forward / reverse operation, it is not necessary to separately create a program using a ladder language.
  • Patent Document 2 does not consider efficient adjustment of the entire control timing between a plurality of axes or between a plurality of IO devices. Further, in the technique disclosed in Patent Document 2, it is disclosed that the slave axis only follows the position of the master axis. The slave axis is the speed of the axis, the analog input value of the sensor that is the IO device, or the time. There is no disclosure of following a control amount other than the position of the master axis, and there is a problem that it is necessary to separately create a program that associates electronic cam control with IO control.
  • the present invention has been made in view of the above, and is a motion control capable of performing synchronous control by integrating electronic cam control and IO control of a servo motor without using a separately created program using a ladder language.
  • the object is to obtain a device.
  • the present invention is a motion control apparatus in which a drive device and an output device are connected, and performs output control of the output device with an output pattern corresponding to input data.
  • the electronic cam control of the driving device is performed, and the control block describing the electronic cam control of the driving device and the control block describing the output control of the output device are represented by the same type of block.
  • the motion control device has the effect that the electronic cam control and IO control of the servo motor can be integrated and controlled synchronously without using a separately created program using a ladder language.
  • the block diagram which shows the function of the motion control apparatus which concerns on embodiment The figure which shows the setting screen of the output module in the synchronous setting of the motion control apparatus which concerns on embodiment
  • FIG. 1 is a block diagram showing functions of a motion control apparatus according to an embodiment of the present invention.
  • the motion control apparatus shown in FIG. 1 includes an input unit 11 to which data is input from an input device, and a library based on a library created by a user while performing electronic cam control based on data from the input unit 11.
  • a calculation unit 12 that performs calculation and an output unit 13 that outputs data to an output device are provided.
  • the data given to the input unit 11 can be exemplified by the phase and temperature of the synchronous encoder, and the data outputted by the output unit 13 is exemplified by the position command to the servo motor and the output intensity of the laser control device can do.
  • the calculation unit 12 calculates the position of the servo motor to be output to the output unit 13 based on the data from the input unit 11 and the control amount to be output to the output device. That is, the motion control apparatus shown in FIG. 1 executes motion control and IO control in the same arithmetic unit. This calculation is executed by electronic cam control using cam data or a calculation library in which a user describes an operation using mathematical expressions.
  • the input unit 11 and the output unit 13 illustrated in FIG. 1 may be connected not only to actual devices but also to virtual devices that simulate the input / output thereof.
  • the virtual device is a virtual device inside the motion control device that can simulate the input / output state of the sensor or servo motor and can input / output data based on the simulated input / output state to the input unit 11 and the output unit 13.
  • FIG. 2 is a diagram showing a setting screen of the output module 25 in the synchronous setting of the motion control apparatus according to the embodiment of the present invention.
  • the setting screen shown in FIG. 2 is displayed on a display device connected to the motion control device, and device configuration parameters, cam patterns, and a mathematical expression library are selected from the module selection screen 20-2. And then transferred to the motion control device.
  • FIG. 2 shows a first input module 21-1, a first input setting screen 21-1a for setting a device connected to the first input module 21-1, and a first input module 21-1.
  • a first library operation module 22-1 connected to the first library, a first library setting read screen 22-1a for setting the library operation, and a first switch connected to the first library operation module 22-1 Connected to the module 23-1, the nth input module 21-n, the nth library operation module 22-n connected to the nth input module 21-n, and the nth library operation module 22-n N-th switch 23-n, a synthesis module 24 connected from the first switch module 23-1 to the n-th switch module 23-n, and a synthesis module
  • An output module 25 for outputting a result obtained by converting the result calculated by the synthesis module 24 into an output corresponding to the phase of the input by the cam pattern module 27, and an output module;
  • An output setting screen 26 for setting a device connected to 25 is shown.
  • n is a natural number larger than 1, and although not shown, n input modules are provided. Since the setting screen shown in FIG. 2 is a setting screen for the output module 25, the number of outputs is one.
  • the control block describing the motion control of the driving device, the input control of the input device, and the output control of the output device are expressed by modules having the same format block, and input data per cycle. The electronic cam can be controlled while controlling the driving device with an output pattern according to the above.
  • Each of the first to nth input modules 21-1 to 21-n in FIG. 2 is related to the input unit 11 in FIG. 1 which is a block diagram showing the function of the motion control apparatus according to the present embodiment. It is done.
  • the input unit 11 includes devices such as a digital input unit, an analog input unit, a servo amplifier, and an encoder.
  • the output module 25 in FIG. 2 corresponds to the output unit 13 in FIG.
  • the output unit 13 includes devices such as a digital output unit, an analog output unit, and a servo amplifier.
  • the digital input unit item and the analog input unit item on the first input setting screen 21-1a for setting the device connected to the first input module 21-1 are set by selecting the input device. Is to do.
  • the library operation module 22-n, switch module 23-n, synthesis module 24, and cam pattern module 27 in FIG. 2 are associated with the operation unit 12 in FIG.
  • the first library operation module 22-1 to the n-th library operation module 22-n allocate a mathematical expression library constructed in a programming language such as C language on the library setting read screen 22-1a, and the first input module 21- An operation is performed on input data of the 1st to n-th input modules 21-n. Examples of this calculation include a calculation using a PID calculation formula, a Gray code conversion formula and a smooth averaging formula, and an integer four arithmetic calculation.
  • FIG. 2 shows a cam pattern 27 of the output module 25 and a cam pattern setting screen 27-a for creating the cam pattern 27.
  • the cam pattern 27 is an operation pattern that is created by drawing of an electronic cam curve by the user on the cam pattern setting screen 27-a or is taken in from an external electronic cam file.
  • the y-axis is calculated according to the cam pattern 27 based on the x-axis data (main axis phase data) of the cam pattern 27, and the motion is output to the output device selected on the output setting screen 26 as the output of the output module 25.
  • An output value is output from the control device.
  • the first switch 23-1 is provided to switch whether or not to use the output of the library operation module 22-1 based on the input data from the first input module 21-1
  • the nth switch 23- n is provided for switching whether to use the output of the library operation module 22-n based on the input data from the nth input module 21-n.
  • the synthesis module 24 switches the first switch 23-1 to the nth switch 23-n from the on / off state among the computation results of the first library computation module 22-1 to the nth library computation module 23-n. Add / subtract multiple inputs correspondingly.
  • the calculation module 28 includes a first library calculation module 22-1 to an nth library calculation module 22-n, a first switch 23-1 to an nth switch 23-n, a synthesis module 24, a cam pattern, 27 and corresponds to the calculation unit 12 of FIG.
  • FIG. 3 is a functional block diagram showing the motion control system 10 including the motion control apparatus according to the embodiment.
  • the motion control system 10 illustrated in FIG. 3 includes an input device 14, a drive device 120 that is a drive device, a motion control device 130, an output device 15, and a setting device 150.
  • the input device 14 includes a digital data input unit 111, an analog data input unit 112, a network input unit 113, and bus synchronous communication units 114a, 114b, and 114c.
  • the digital data input unit 111 outputs digital data input to the motion control device 130.
  • the analog data input unit 112 outputs analog data input to the motion control device 130.
  • the network input unit 113 outputs network device data input to the motion control device 130.
  • the bus synchronization communication unit 114 a is connected to the digital data input unit 111
  • the bus synchronization communication unit 114 b is connected to the analog data input unit 112
  • the bus synchronization communication unit 114 c is connected to the network input unit 113.
  • Each of the bus synchronization communication units 114a, 114b, and 114c together with the bus synchronization communication unit 131 in the motion control device 130, synchronizes the input timing of each input device while correcting variations in input timing between hardware. Data acquired by the input device 14 is transferred to the calculation unit 134 through the input unit 133 in the motion control device 130.
  • the drive device 120 includes a current position and speed acquisition unit 121 that acquires the current position and speed of the drive shaft, an internal status information acquisition unit 122 that acquires internal status information in the drive device 120, and a servo drive that controls the drive shaft.
  • a control unit 123 and a servo communication synchronization communication unit 124 that synchronizes with the servo communication synchronization communication unit 132 in the motion control device 130 are provided.
  • the servo communication synchronization communication unit 124 together with the servo communication synchronization communication unit 132 in the motion control device 130, synchronizes the input timing from the drive device 120 while correcting the variation in the input timing between hardware.
  • Data acquired by the driving device 120 is transferred to the arithmetic unit 134 through the input unit 133.
  • the drive device 120 operates as an input device that inputs data for executing control to the motion control device 130 as described above, and as an output device that controls the motor based on the result calculated by the motion control device 130. Also works.
  • the motion control device 130 includes a bus synchronization communication unit 131, 131a, a servo communication synchronization communication unit 132, an input unit 133, a calculation unit 134, an output unit 135, a virtual axis realization unit 136, and a library execution unit 137.
  • the motion control device 130 is based on the input data acquired from the input unit 133, the synchronization parameter set by the setting device 150 and stored in the synchronization parameter storage unit 138a, and the calculation formula stored in the library storage unit 138c.
  • the motion control device 130 calculates the y-axis according to the cam pattern based on the x-axis data (principal axis phase data). The calculated value is output to the drive device 120 through the servo communication synchronous communication unit 132 or output to the output device 15 through the bus synchronous communication unit 131a.
  • the bus synchronous communication unit 131 acquires each input data at a specific simultaneous timing from the bus synchronous communication units 114a, 114b, and 114c for the purpose of suppressing variations in input / output timing between hardware, and inputs the input data to the input unit 133. Forward.
  • the servo communication synchronization communication unit 132 synchronizes with the servo communication synchronization communication unit 124.
  • the input unit 133 synchronizes with the input data from the input device 14 synchronized with the processing of the motion control device 130 via the bus synchronization communication unit 131 and with the processing of the motion control device 130 via the servo communication synchronization communication unit 124.
  • the input data from the driving device 120 is converted into data that can be input to the calculation unit 134.
  • the calculation unit 134 includes data passed from the input unit 133, cam pattern data stored in the electronic cam pattern storage unit 138 b, a formula library calculation formula passed from the library execution unit 137, and an internal timer 115. Based on the passed data, output data to be passed to the output unit 135 is calculated.
  • the library execution unit 137 expands the mathematical expression library stored in the library storage unit 138c, and provides a calculation formula of the mathematical expression library created by the user to the calculation unit 134.
  • the virtual axis realization unit 136 is a functional module for providing the arithmetic unit 134 with arbitrary data such as a test operation command in the same format as the driving device 120, for example, when there is no actual device.
  • the internal timer 115 is a timer provided in the motion control device 130 and provides time information to the calculation unit 134.
  • the computing unit 134 can also perform electronic cam control by an operation pattern with the horizontal axis as time by performing computation based on time information provided from the internal timer 115.
  • the synchronization parameter storage unit 138a stores the synchronization parameter of the combination state of each module on the display screen shown in FIG. 2 output from the synchronization parameter setting unit 151 in the setting device 150.
  • the electronic cam pattern storage unit 138 b stores the electronic cam pattern constructed by the electronic cam construction unit 155 in the setting device 150.
  • the library storage unit 138 c stores the mathematical expression library read by the library reading unit 152 in the setting device 150.
  • the asynchronous control calculation unit 139 indicates a control calculation unit that performs calculation for controlling one or a plurality of devices that do not require synchronous control in the motion control apparatus 130, and is a program that is created by a user and does not require synchronization.
  • the output unit 135 converts the output data from the calculation unit 134 into data that can be output to the output device 15 or the driving device 120.
  • the output device 15 includes a bus synchronous communication unit 141a, 141b, 141c, a digital data output unit 142, an analog data output unit 143, and a network output unit 144.
  • the bus synchronization communication unit 141a is connected to the digital data output unit 142
  • the bus synchronization communication unit 141b is connected to the analog data output unit 143
  • the bus synchronization communication unit 141c is connected to the network output unit 144.
  • the output from the output unit 135 in the motion control device 130 is the same as the digital data output unit 142, the analog data output unit 143, and the network output unit 144 in the output device 15.
  • the digital data output unit 142 outputs digital data according to data from the motion control device 130.
  • the analog data output unit 143 outputs analog data according to the data from the motion control device 130.
  • the network output unit 144 outputs the calculation result data from the motion control device 130 to an external network.
  • the setting device 150 is a device that can be connected to the motion control device 130 at the time of setting, and can be disconnected from the motion control device 130 when the motion control device 130 operates, and is realized by a computer as an example.
  • the setting device 150 includes a synchronization parameter setting unit 151, a library reading unit 152, a synchronization setting screen display unit 153, an IF unit 154, and an electronic cam construction unit 155.
  • the synchronization parameter setting unit 151 sets the synchronization parameters of the modules such as the synchronization parameter setting of the input device 14 and the output device 15 constructed by the synchronization setting screen display unit 153, the switch setting and the calculation module, and the information on the combination state Are stored in the synchronization parameter storage unit 138a so that the motion control device 130 can refer to them.
  • the library reading unit 152 reads the mathematical expression library constructed by the library construction device 160 by the setting device 150 and stores it in the library storage unit 138c in the motion control device 130.
  • the synchronization setting screen display unit 153 is a display unit that displays each output setting screen shown in FIG. 2 and screens shown in FIGS.
  • the synchronization setting screen display unit 153 may be mounted on a display device that is connected to the motion control device 130 included in the motion control system 10 and can be disconnected.
  • the IF unit 154 is an input device that can be operated by the user, and outputs the operation content to the synchronization setting screen display unit 153 when setting is input, and reflects the operation content on the display screen.
  • the electronic cam construction unit 155 provides electronic cam curve setting means using the synchronization setting screen display unit 153 and the IF unit 154, and stores them in the electronic cam pattern storage unit 138b so that the motion control device 130 can refer to them.
  • the library construction device 160 edits the C language and converts (compiles) it into a format that can be executed by the motion control device 130.
  • the mathematical expression library is read by the library reading unit 152 and stored in the library storage unit 138c of the motion control device 130.
  • FIG. 4 is a block diagram showing a hardware configuration for realizing the motion control system 10 shown in FIG.
  • the motion control system 10 illustrated in FIG. 4 includes an input device 14, a drive device 120, a motion control device 130, an output device 15, and a setting device 150.
  • the input device 14 includes a sensor 211, an AD conversion unit 212 that is connected to the sensor 211 and converts analog data into digital data, a switch 213, and a digital data input unit 214 that is connected to the switch 213 and receives an on / off signal. And a network device 215 and a network 216 connected to the network device 215 to which data is input.
  • the driving device 120 includes a servo amplifier 221 and a motor 222 driven by the servo amplifier 221.
  • the motion control device 130 includes a bus 231 that can transfer data, a CPU (Central Processing Unit) 232, a ROM (Read Only Memory) 233, a RAM (Random Access Memory) 234, and a servo communication circuit 235.
  • the bus synchronous communication unit 131 illustrated in FIG. 3 is realized by the bus 231 illustrated in FIG.
  • the servo communication synchronous communication unit 132 shown in FIG. 3 is realized by the servo communication circuit 235 shown in FIG.
  • the programs for realizing the input unit 133, the calculation unit 134, the output unit 135, the virtual axis realization unit 136, and the library execution unit 137 shown in FIG. 3 are stored in the ROM 233 shown in FIG. 4, and the CPU 232 shown in FIG.
  • the synchronization parameter storage unit 138a, the electronic cam pattern storage unit 138b, the library storage unit 138c, the internal timer, and the virtual axis shown in FIG. 3 are stored in the ROM 233 shown in FIG.
  • the asynchronous control calculation unit 139 may be stored in the ROM 233 illustrated in FIG. 4 and executed by the CPU 232 and the RAM 234.
  • the output device 15 receives an analog conversion unit 241 to which data from the motion control device 130 is input, a laser 242 controlled by analog data output from the analog conversion unit 241, and data from the motion control device 130.
  • the setting device 150 includes a display 251, a CPU 252, a ROM 253, and a RAM 254.
  • the synchronization setting screen display unit 153 shown in FIG. 3 is realized by the display 251 shown in FIG.
  • a program for realizing the synchronization parameter setting unit 151, the library reading unit 152, and the electronic cam construction unit 155 shown in FIG. 3 is stored in the ROM 253 shown in FIG. 4, and is calculated using the CPU 252 and the RAM 254 shown in FIG. By implementing this, these configurations are realized.
  • the IF unit 154 illustrated in FIG. 3 is not illustrated, any input device that can be operated by the user may be used, and examples of the input device include a mouse and a keyboard.
  • the hardware configuration of the library construction device 160 is not shown, but is the same as that of the setting device 150.
  • Examples of the sensor 211 connected to the AD conversion unit 212 include a pressure sensor, an acceleration sensor, a temperature sensor, a current sensor, a voltage sensor, and an illuminance sensor.
  • An image sensor can be exemplified as the switch 213 connected to the digital data input unit 214.
  • Examples of the network device 215 connected to the network 216 include a large-scale database via a touch panel and the Internet. The data input from the servo amplifier 221 can exemplify the current rotation speed, the current position, the acceleration alarm state, and the magnetic pole position.
  • the network device 246 connected to the network 245 can be exemplified by a large-scale database via a touch panel and the Internet.
  • Examples of data output to the servo amplifier 221 include command rotation speed, command position, and command acceleration.
  • the motion control system 10 shown in FIG. 3 can be realized by the hardware of the motion control system 10 shown in FIG.
  • FIG. 5 is a diagram showing an example of a real device configuration of a motion control system including the motion control device according to the embodiment, which operates according to the screen shown in FIG. 6 to be described later.
  • the output of the laser for cutting the member is changed in an optimum pattern in accordance with the position where the member is conveyed to the left and right.
  • FIG. 5 shows an example in which the motion control apparatus operates according to an internal program rather than operating according to an external signal.
  • FIG. 5 includes a master input unit 401 that is a virtual axis that serves as a master for the synchronization timing of each output, a servo motor 402 that is an analog output motor that conveys a member, a laser output device 403 that outputs an analog output laser, A motion control device 404 to which a network output is connected and a temperature sensor 405 for measuring a member temperature during laser cutting are shown.
  • the virtual axis 401 is a virtual servo motor that operates at a speed set by the user.
  • the servo motor 402 and the laser output device 403 operate in synchronization with the speed and phase of the virtual axis 401.
  • the temperature sensor 405 measures the member temperature.
  • the slave cam 412 is a servo motor 402, and the slave cam 413 is a laser output device 403.
  • the electronic cam pattern 412a describes the operation of the servo motor 402.
  • the electronic cam pattern 412a is an operation pattern that reciprocates in accordance with the phase of the horizontal axis that is a virtual axis.
  • the cam pattern 413a describes the output intensity of the laser beam.
  • the cam pattern 413a is a pattern having the maximum intensity near the center of the phase of the horizontal axis that is the virtual axis.
  • the temperature of the member during operation of the servo motor 402 and the laser output device 403 is measured by the temperature sensor 405.
  • the output of the laser output device 403 is output by adding the output intensity according to the phase of the virtual main axis by the slave cam 413 and the value calculated by the calculation module 503 based on the temperature data acquired from the temperature sensor 405. For this reason, it is possible to perform laser cutting with the optimum intensity by irradiating the laser beam with the intensity synchronized with the position of the member and executing the feedback control including the actual temperature in synchronization.
  • the laser output strength and the cutting position that is the position of the transport axis can be adjusted, and a program created in a ladder language is not required. It is possible to realize such control that the servo motor motion control and IO control are integrated only by parameter setting and adjustment, and the laser output is changed in accordance with the cam operation and temperature.
  • FIG. 6 is a diagram showing a synchronization setting screen in the actual apparatus configuration example of the motion control apparatus shown in FIG.
  • the input module 501 represents an input from a virtual servo motor that exists in the program of the master input unit 401 shown in FIG.
  • the input module 502 represents an input from the temperature sensor 405 shown in FIG.
  • the calculation module 503 performs a calculation based on the temperature data from the temperature sensor 405.
  • the switch module 504 selects whether to transmit the calculation result of the calculation module 503 to the output.
  • the synthesis module 505 synthesizes the input from the input module 502 and the data of the switch module 504.
  • the cam pattern 506 describes the operation of the motor indicated by the slave cam 412 shown in FIG.
  • the cam pattern 507 describes the intensity of the laser output indicated by the slave cam 413 shown in FIG.
  • the output module 508 represents the servo motor 402.
  • the output module 509 represents the laser output device 403.
  • the output module 508 is connected to the input module 501 of the synchronization setting screen 2 via the cam data 506.
  • the input module 501 is connected to the synthesis module 505, the input module 502 is connected to the arithmetic module 503, and the arithmetic module 503 is connected to the switch 504.
  • the synthesis module 505 is connected to the output module 509 via the cam pattern 507.
  • FIG. 7 is a diagram illustrating a synchronization setting screen of another motion control device according to the embodiment.
  • the motion control device on which the screen shown in FIG. 7 is displayed is a device that monitors the temperature of a member via a network by cutting the member with a motor according to the strength of the laser according to the conveyance position and temperature.
  • the same output settings are collectively displayed on one screen.
  • the output module 301 is connected to the input module 311 of the synchronization setting screen 2 via the cam data 351.
  • the output module 301 is a conveyance shaft.
  • the input module 311 is connected to the calculation module 321, the calculation module 321 is connected to the switch 331, and the switch 331 is connected to the synthesis module 341.
  • the input module 311 is a virtual axis serving as a common master axis for performing electronic cam control in conjunction with the output module 301 serving as a transport axis and the output module 302 serving as a laser output.
  • the input module 312 is connected to the switch 332, and the switch 332 is connected to the synthesis module 341.
  • the input module 312 is an AD unit temperature sensor and monitors the temperature of the member.
  • the output side of the synthesis module 341 is connected to the output module 302 via the cam data 352.
  • the output module 302 is a laser output connected to the DA unit.
  • the communication module 303 is connected to the calculation module 322 via the cam data 353, and the calculation module 322 is connected to the input module 312 of the synchronization setting screen 2.
  • the arithmetic module 322 is an arithmetic library module that converts data input from the input module 312 into a format to be transmitted from the communication module 303.
  • the output module 301 uses the cam pattern of the cam data 351, the output module 302 uses the cam pattern of the cam data 352, and the communication module 303 uses the cam pattern of the cam data 353.
  • the communication module 303 is a communication function module for monitoring communication temperature data.
  • the input value of the movement amount of the virtual axis from the input module 311 is 100
  • the temperature of the temperature sensor from the input module 312 is 53
  • the calculation in the calculation module 321 is performed.
  • the output value from the synthesis module 341 is 154, that is, the laser output value of the output module 302 is the input of the input module 311.
  • the control is performed to increase or decrease the intensity of the laser based on the cam data 352 in conjunction with the position of the conveyance axis connected to the value, the temperature of the input module 312 which is a temperature sensor, and the correction value of the calculation module 321.
  • the output module 301 that is the transport axis performs transport, but the output value from the synthesis module 341 is 0, so the laser of the output module 302 is stopped. It becomes control.
  • the output value from the synthesis module 341 is 101, and the laser output that is not affected by the input module 311 that is a temperature sensor only according to the input of the input module 311. It becomes control of.
  • the output value from the synthesis module 341 is 53, and the laser output is controlled only by the value of the input module 312 which is a temperature sensor.
  • the output module 302 searches for the output value from the synthesis module 341 from the x-axis of the cam pattern of the cam data 352, and outputs the y-axis value corresponding to the x-axis value as the output value of the output module 302.
  • the output module 302 outputs laser light based on this output value.
  • the output module 301 takes 100 which is the input value from the input module 311 on the x axis of the cam data 351, outputs the value of the y axis at this time as the output value of the output module 301, and drives the motor of the conveyance axis. .
  • the communication module 303 refers to 53 which is an input value from the input module 312 on the x axis of the cam data 353, and is connected to the motion control device using the y axis value at this time as the output value of the communication module 303. Output to a network unit and send temperature information to a database on the network.
  • FIG. 8 is a flowchart showing the operation of the motion control apparatus according to the embodiment.
  • the input unit 133 reads the synchronization parameter input from the synchronization parameter storage unit 138a and passes it to the calculation unit 134 (S11). That is, it is determined by S11 which input data of the input device 14 is read.
  • the calculation unit 134 reads the library from the library storage unit 138c via the library execution unit 137 (S12). An existing calculation function may be used instead of this library. Thereby, preparation for calculation is performed.
  • the calculation unit 134 performs a calculation based on the input data acquired from the input unit 133 and the combination constructed by the synchronization setting screen display unit 153 (S13).
  • the combination constructed by the synchronization setting screen display unit 153 is a combination state of each module on the display screen shown in FIG. 2, and is stored in the synchronization parameter storage unit 138a. Then, the calculation unit 134 determines the current switch state inside the motion control device (S14), performs a combination calculation with the input result of another input unit (S15), and the library based on the library read in S12. An operation is performed (S16). Then, the calculation unit 134 sets the calculation result so far as the x-axis of the cam pattern, and outputs the y-axis data to the output unit 135 (S17).
  • the output unit 135 outputs the data to the set output device 15 or the driving device 120 based on the data in the synchronization parameter storage unit 138a and the data passed from the calculation unit 134 (S18). End.
  • the motion control device repeatedly executes input and output while taking the synchronization timing, so that complicated control that integrates IO control and motion control can be performed without requiring a program created in a ladder language. This can be realized only by setting patterns and parameters.
  • motion control and IO control can be integrated and controlled by setting parameters and creating cam patterns without using a program language.
  • the motion control apparatus has a configuration in which the driving device 120 and the output device 15 are connected, and simultaneously performs output control of the output device 15 with an output pattern corresponding to input data per cycle.
  • a control block that performs electronic cam control of the drive device 120 and describes the electronic cam control of the drive device 120 and a control block that describes output control of the output device 15 are expressed by blocks of the same format as shown in FIG. The Further, when the input device 14 is connected to the motion control apparatus according to the embodiment, the drive device 120 and the output device 15 can be controlled using input data of the connected input device 14.
  • a screen for setting the parameters of the cam pattern of the electronic cam control of the driving device 120, and the output device 15 A screen for setting control parameters is displayed on one screen.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

Abstract

The purpose of the present invention is to obtain a motion control device capable of integrating servo motor electronic cam control and I/O control together and thereby performing synchronization control without using a program that is separately created using a ladder language. This motion control device (130), to which a drive device (120) and an output device (15) are connected, controls the output of the output device (15) by producing an output pattern in accordance with input data, and at the same time performs electronic cam control of the drive device (120), wherein a control block for describing the electronic cam control of the drive device (120) and a control block for describing the output control of the output device (15) are represented in the same block format.

Description

モーション制御装置及び外部表示装置Motion control device and external display device
　本発明は、駆動装置を有する機械又は装置の動作を制御するモーション制御装置及び外部表示装置に関する。 The present invention relates to a motion control device and an external display device for controlling the operation of a machine or device having a drive device.
　従来、サーボモータの同期制御として、同期制御の基準となる回転体に同期エンコーダを取り付け、その信号に従い対象となるサーボモータを駆動する方式において、同期制御のタイミングを決定するエンコーダ(マスタ軸)の位相（１回転内の位置）と制御対象となるサーボモータ（スレーブ軸）の位置とを対応付けるカムデータを用いて同期制御を実現する電子カム制御が広く知られている。 Conventionally, as a synchronous control of a servo motor, a synchronous encoder is attached to a rotating body serving as a reference for the synchronous control, and in the method of driving the target servo motor according to the signal, an encoder (master axis) that determines the timing of the synchronous control is used. Electronic cam control that realizes synchronous control using cam data that associates the phase (position within one rotation) with the position of a servo motor (slave axis) to be controlled is widely known.
　従来例である特許文献１には、電子カム制御の設定手段として一つの駆動ソフトウェアモジュールに対して複数の出力ソフトウェアモジュールを有する同期制御プログラムを１画面に表示し、この画面に、パラメータの設定画面、各ソフトウェアモジュールのステータス情報又は駆動ソフトウェアモジュール若しくは出力ソフトウェアモジュールの波形グラフを表示してこの表示を切り替えることにより、電子カム制御の設定を行う多軸同期制御装置が開示されている。 In Patent Document 1 as a conventional example, a synchronous control program having a plurality of output software modules for one drive software module is displayed on one screen as a setting means for electronic cam control, and a parameter setting screen is displayed on this screen. A multi-axis synchronous control device is disclosed in which status information of each software module or a waveform graph of a drive software module or an output software module is displayed and this display is switched to set electronic cam control.
　また、他の従来例である特許文献２には、サーボモータの同期制御のタイミングに合わせて周辺装置のＩＯ（Input　Output）制御を行う場合、電子カム制御のカムデータに加えてＩＯ信号の状態データも合わせて記憶し、異常発生時又は調整時に再度出力することで制御対称軸を逆方向に動作させ、更には繰り返し正逆動作させる技術が開示されている。 In addition, in Patent Document 2 as another conventional example, when IO (Input Output) control of a peripheral device is performed in accordance with the timing of synchronous control of a servo motor, the state of the IO signal in addition to the cam data of the electronic cam control A technique is disclosed in which data is also stored and output again at the time of occurrence of an abnormality or at the time of adjustment to operate the control symmetry axis in the reverse direction, and further repeatedly forward and reverse.
特許第５１７４９９２号公報Japanese Patent No. 5174992 特開２００４－２４６４９８号公報JP 2004-246498 A
　しかしながら、上記の従来例の一つである特許文献１に開示された技術によれば、パラメータの設定のみでソフトウェア設計からデバッグまでの作業を行うことはできるものの、電子カム制御の対象はサーボモータの位置に限定されており、速度又はトルクを制御する、あるいはサーボモータの位置以外の信号、例えばデジタル信号のＯＮ／ＯＦＦやアナログ操作量のような出力を対象としていないため、デジタル信号のＯＮ／ＯＦＦやアナログ操作量などのＩＯ制御についてはラダー言語を用いて別途プログラムを作成する必要がある、という問題があった。また、電子カム制御がＩＯ制御を対象としていないため、電子カム制御とＩＯ制御との同期性が保証できず、電子カム制御とＩＯ制御とのタイミングの調整が容易でない、という問題があった。 However, according to the technique disclosed in Patent Document 1 which is one of the above-described conventional examples, the work from software design to debugging can be performed only by setting parameters, but the object of electronic cam control is a servo motor. The position is limited to the position of the signal, and it is not intended for signals other than the position of the servo motor, such as controlling the speed or torque, such as digital signal ON / OFF and analog operation amount. For IO control such as OFF and analog operation amount, there is a problem that a separate program needs to be created using a ladder language. Further, since the electronic cam control is not intended for the IO control, there is a problem that the synchronization between the electronic cam control and the IO control cannot be guaranteed, and the timing adjustment between the electronic cam control and the IO control is not easy.
　一方で、上記の従来例の一つである特許文献２に開示された技術によれば、サーボモータの電子カム制御と連動したＩＯ制御を実現可能である。特許文献２に開示された技術によれば、マスタスレーブ軸間のカムデータに、ラダー言語を用いて作成されたプログラムにより生成されたＩＯ信号の状態を同時に記録し、再度呼び出すため、動作の再現又は正逆動作において、ラダー言語を用いて、プログラムを別途作成する必要がない。しかしながら、電子カム制御及びＩＯ制御の位相の調整時、又は１サイクルの周期の一方の制御のみの変更時には、依然としてラダー言語を用いて、プログラムを別途作成する必要がある。また、特許文献２には、複数の軸間又は複数のＩＯ機器間の全体の制御タイミングの調整を効率よく行うことは考慮されていない。また、特許文献２に開示された技術では、スレーブ軸はマスタ軸の位置に追従することのみが開示されており、スレーブ軸が、軸の速度、ＩＯ機器であるセンサのアナログ入力値又は時間といったマスタ軸の位置以外の制御量に追従することは開示されておらず、電子カム制御とＩＯ制御とを関連付けるプログラムを別途作成する必要がある、という問題があった。 On the other hand, according to the technique disclosed in Patent Document 2 which is one of the above-described conventional examples, it is possible to realize IO control in conjunction with servo cam electronic cam control. According to the technique disclosed in Patent Document 2, the state of the IO signal generated by the program created using the ladder language is simultaneously recorded in the cam data between the master and slave axes, and the operation is reproduced. Or, in the forward / reverse operation, it is not necessary to separately create a program using a ladder language. However, when adjusting the phase of the electronic cam control and the IO control, or when changing only one control of one cycle period, it is still necessary to separately create a program using the ladder language. Further, Patent Document 2 does not consider efficient adjustment of the entire control timing between a plurality of axes or between a plurality of IO devices. Further, in the technique disclosed in Patent Document 2, it is disclosed that the slave axis only follows the position of the master axis. The slave axis is the speed of the axis, the analog input value of the sensor that is the IO device, or the time. There is no disclosure of following a control amount other than the position of the master axis, and there is a problem that it is necessary to separately create a program that associates electronic cam control with IO control.
　本発明は、上記に鑑みてなされたものであって、ラダー言語を用いて別途作成されたプログラムを用いることなく、サーボモータの電子カム制御とＩＯ制御とを統合して同期制御可能なモーション制御装置を得ることを目的とする。 The present invention has been made in view of the above, and is a motion control capable of performing synchronous control by integrating electronic cam control and IO control of a servo motor without using a separately created program using a ladder language. The object is to obtain a device.
　上述した課題を解決し、目的を達成するために、本発明は、駆動機器及び出力機器が接続されたモーション制御装置であって、入力データに応じた出力パターンで前記出力機器の出力制御を行うと同時に前記駆動機器の電子カム制御を行い、前記駆動機器の電子カム制御を記述する制御ブロックと、前記出力機器の出力制御を記述する制御ブロックとが同一形式のブロックで表現されることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention is a motion control apparatus in which a drive device and an output device are connected, and performs output control of the output device with an output pattern corresponding to input data. At the same time, the electronic cam control of the driving device is performed, and the control block describing the electronic cam control of the driving device and the control block describing the output control of the output device are represented by the same type of block. And
　本発明に係るモーション制御装置は、ラダー言語を用いて別途作成されたプログラムを用いることなく、サーボモータの電子カム制御とＩＯ制御とを統合して同期制御可能であるという効果を奏する。 The motion control device according to the present invention has the effect that the electronic cam control and IO control of the servo motor can be integrated and controlled synchronously without using a separately created program using a ladder language.
実施の形態に係るモーション制御装置の機能を示すブロック図The block diagram which shows the function of the motion control apparatus which concerns on embodiment 実施の形態に係るモーション制御装置の同期設定における出力モジュールの設定画面を示す図The figure which shows the setting screen of the output module in the synchronous setting of the motion control apparatus which concerns on embodiment 実施の形態に係るモーション制御装置を含むモーション制御システムを示す機能ブロック図Functional block diagram showing a motion control system including a motion control device according to an embodiment 図３に示すモーション制御システムを実現するハードウェアの構成を示すブロック図The block diagram which shows the structure of the hardware which implement | achieves the motion control system shown in FIG. 図６に示す画面によって動作する、実施の形態に係るモーション制御装置を含むモーション制御システムの実装置構成例を示す図The figure which shows the example of an actual apparatus structure of the motion control system which operate | moves with the screen shown in FIG. 図５に示すモーション制御装置の実装置構成例における同期設定の画面を示す図The figure which shows the screen of the synchronous setting in the actual apparatus structural example of the motion control apparatus shown in FIG. 実施の形態に係る、他のモーション制御装置の同期設定後の画面を示す図The figure which shows the screen after the synchronous setting of the other motion control apparatus based on embodiment 実施の形態に係るモーション制御装置の動作を示すフローチャートThe flowchart which shows operation | movement of the motion control apparatus which concerns on embodiment
　以下に、本発明の実施の形態に係るモーション制御装置及び外部表示装置を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a motion control device and an external display device according to an embodiment of the present invention will be described in detail based on the drawings. Note that the present invention is not limited to the embodiments.
実施の形態．
　図１は、本発明の実施の形態に係るモーション制御装置の機能を示すブロック図である。図１に示すモーション制御装置は、入力機器からデータが入力される入力部１１と、入力部１１からのデータをもとに、電子カム制御を行いつつユーザが作成したライブラリに基づく演算であるライブラリ演算を行う演算部１２と、出力機器へデータを出力する出力部１３とを備える。なお、入力部１１に与えられるデータとしては、同期エンコーダの位相、温度などを例示することができ、出力部１３が出力するデータにはサーボモータへの位置指令及びレーザ制御装置の出力強度を例示することができる。 Embodiment.
FIG. 1 is a block diagram showing functions of a motion control apparatus according to an embodiment of the present invention. The motion control apparatus shown in FIG. 1 includes an input unit 11 to which data is input from an input device, and a library based on a library created by a user while performing electronic cam control based on data from the input unit 11. A calculation unit 12 that performs calculation and an output unit 13 that outputs data to an output device are provided. The data given to the input unit 11 can be exemplified by the phase and temperature of the synchronous encoder, and the data outputted by the output unit 13 is exemplified by the position command to the servo motor and the output intensity of the laser control device can do.
　演算部１２は、入力部１１からのデータに基づき出力部１３へ出力するサーボモータの位置などの演算と、出力機器へ出力する制御量の演算を行う。すなわち、図１に示すモーション制御装置は、モーション制御とＩＯ制御とを同一の演算部にて実行する。この演算は、カムデータを用いた電子カム制御又はユーザが数式により動作を記述する演算ライブラリによって実行される。 The calculation unit 12 calculates the position of the servo motor to be output to the output unit 13 based on the data from the input unit 11 and the control amount to be output to the output device. That is, the motion control apparatus shown in FIG. 1 executes motion control and IO control in the same arithmetic unit. This calculation is executed by electronic cam control using cam data or a calculation library in which a user describes an operation using mathematical expressions.
　なお、図１に示す入力部１１及び出力部１３には、実在の機器のみならず、その入出力を模擬した仮想機器が接続されてもよい。なお、仮想機器とは、センサ又はサーボモータの入出力状態を模擬し、この模擬した入出力状態に基づくデータを入力部１１及び出力部１３へ入出力可能なモーション制御装置内部の仮想的な機器をいう。 Note that the input unit 11 and the output unit 13 illustrated in FIG. 1 may be connected not only to actual devices but also to virtual devices that simulate the input / output thereof. The virtual device is a virtual device inside the motion control device that can simulate the input / output state of the sensor or servo motor and can input / output data based on the simulated input / output state to the input unit 11 and the output unit 13. Say.
　図２は、本発明の実施の形態に係るモーション制御装置の同期設定における出力モジュール２５の設定画面を示す図である。図２に示す設定画面は、モーション制御装置に接続される表示装置に表示されており、装置構成のパラメータ、カムパターン及び数式ライブラリが、モジュール選択画面２０－２から選択され、設定画面２０－１へ配置された後、モーション制御装置へ転送される。図２には、第１の入力モジュール２１－１と、第１の入力モジュール２１－１に接続された装置を設定する第１の入力設定画面２１－１ａと、第１の入力モジュール２１－１に接続された第１のライブラリ演算モジュール２２－１と、ライブラリの演算を設定する第１のライブラリ設定読み出し画面２２－１ａと、第１のライブラリ演算モジュール２２－１に接続された第１のスイッチモジュール２３－１と、第ｎの入力モジュール２１－ｎと、第ｎの入力モジュール２１－ｎに接続された第ｎのライブラリ演算モジュール２２－ｎと、第ｎのライブラリ演算モジュール２２－ｎに接続された第ｎのスイッチ２３－ｎと、第１のスイッチモジュール２３－１から第ｎのスイッチモジュール２３－ｎに接続された合成モジュール２４と、合成モジュール２４の設定画面である合成設定画面２４－ａと、合成モジュール２４で演算された結果をカムパターンモジュール２７により入力の位相に応じた出力に変換した結果を出力する出力モジュール２５と、出力モジュール２５に接続された装置を設定する出力設定画面２６とが示されている。なお、ここでｎは１より大きい自然数であり、図示していないが、入力モジュールはｎ個設けられている。図２に示す設定画面は、出力モジュール２５の設定画面であるので、出力は１個である。図２においては、駆動機器のモーション制御を記述する制御ブロックと、入力機器の入力制御と、出力機器の出力制御とが同一形式のブロックであるモジュールで表現されており、１サイクルあたりの入力データに応じた出力パターンで駆動機器を制御しつつ、電子カム制御が可能である。 FIG. 2 is a diagram showing a setting screen of the output module 25 in the synchronous setting of the motion control apparatus according to the embodiment of the present invention. The setting screen shown in FIG. 2 is displayed on a display device connected to the motion control device, and device configuration parameters, cam patterns, and a mathematical expression library are selected from the module selection screen 20-2. And then transferred to the motion control device. FIG. 2 shows a first input module 21-1, a first input setting screen 21-1a for setting a device connected to the first input module 21-1, and a first input module 21-1. A first library operation module 22-1 connected to the first library, a first library setting read screen 22-1a for setting the library operation, and a first switch connected to the first library operation module 22-1 Connected to the module 23-1, the nth input module 21-n, the nth library operation module 22-n connected to the nth input module 21-n, and the nth library operation module 22-n N-th switch 23-n, a synthesis module 24 connected from the first switch module 23-1 to the n-th switch module 23-n, and a synthesis module An output module 25 for outputting a result obtained by converting the result calculated by the synthesis module 24 into an output corresponding to the phase of the input by the cam pattern module 27, and an output module; An output setting screen 26 for setting a device connected to 25 is shown. Here, n is a natural number larger than 1, and although not shown, n input modules are provided. Since the setting screen shown in FIG. 2 is a setting screen for the output module 25, the number of outputs is one. In FIG. 2, the control block describing the motion control of the driving device, the input control of the input device, and the output control of the output device are expressed by modules having the same format block, and input data per cycle. The electronic cam can be controlled while controlling the driving device with an output pattern according to the above.
　図２における第１の入力モジュール２１－１から第ｎの入力モジュール２１－ｎの各々は、本実施の形態に係るモーション制御装置の機能を示すブロック図である図１における入力部１１と関係付けられる。ここで、入力部１１は、デジタル入力ユニット、アナログ入力ユニット、サーボアンプ、エンコーダなどの機器から構成される。図２における出力モジュール２５は図１における出力部１３に該当する。ここで、出力部１３はデジタル出力ユニット、アナログ出力ユニット、サーボアンプなどの機器から構成される。図２において、第１の入力モジュール２１－１に接続された装置を設定する第１の入力設定画面２１－１ａのデジタル入力ユニットの項目及びアナログ入力ユニットの項目は、入力機器を選択して設定するためのものである。 Each of the first to nth input modules 21-1 to 21-n in FIG. 2 is related to the input unit 11 in FIG. 1 which is a block diagram showing the function of the motion control apparatus according to the present embodiment. It is done. Here, the input unit 11 includes devices such as a digital input unit, an analog input unit, a servo amplifier, and an encoder. The output module 25 in FIG. 2 corresponds to the output unit 13 in FIG. Here, the output unit 13 includes devices such as a digital output unit, an analog output unit, and a servo amplifier. In FIG. 2, the digital input unit item and the analog input unit item on the first input setting screen 21-1a for setting the device connected to the first input module 21-1 are set by selecting the input device. Is to do.
　図２におけるライブラリ演算モジュール２２－ｎ、スイッチモジュール２３－ｎ、合成モジュール２４及びカムパターンモジュール２７は、図１における演算部１２に関連付けられる。第１のライブラリ演算モジュール２２－１から第ｎのライブラリ演算モジュール２２－ｎは、Ｃ言語などのプログラミング言語で構築した数式ライブラリをライブラリ設定読み出し画面２２－１ａで割り付け、第１の入力モジュール２１－１から第ｎの入力モジュール２１－ｎの入力データに対して演算を行う。この演算には、ＰＩＤ演算式、グレイコード変換式及び平滑平均化式による演算と、整数の四則演算とを例示することができる。また、図２には、出力モジュール２５のカムパターン２７と、カムパターン２７の作成を行うカムパターン設定画面２７－ａが示されている。カムパターン２７は、カムパターン設定画面２７－ａにおける電子カム曲線のユーザによる描画で作成され、又は外部の電子カムファイルから取り込まれる運転パターンである。図２においては、カムパターン２７のｘ軸のデータ（主軸の位相データ）を元に、カムパターン２７に従いｙ軸を演算し、出力モジュール２５の出力として出力設定画面２６で選択した出力機器へモーション制御装置から出力値が出力される。 The library operation module 22-n, switch module 23-n, synthesis module 24, and cam pattern module 27 in FIG. 2 are associated with the operation unit 12 in FIG. The first library operation module 22-1 to the n-th library operation module 22-n allocate a mathematical expression library constructed in a programming language such as C language on the library setting read screen 22-1a, and the first input module 21- An operation is performed on input data of the 1st to n-th input modules 21-n. Examples of this calculation include a calculation using a PID calculation formula, a Gray code conversion formula and a smooth averaging formula, and an integer four arithmetic calculation. FIG. 2 shows a cam pattern 27 of the output module 25 and a cam pattern setting screen 27-a for creating the cam pattern 27. The cam pattern 27 is an operation pattern that is created by drawing of an electronic cam curve by the user on the cam pattern setting screen 27-a or is taken in from an external electronic cam file. In FIG. 2, the y-axis is calculated according to the cam pattern 27 based on the x-axis data (main axis phase data) of the cam pattern 27, and the motion is output to the output device selected on the output setting screen 26 as the output of the output module 25. An output value is output from the control device.
　第１のスイッチ２３－１は、第１の入力モジュール２１－１からの入力データに基づいたライブラリ演算モジュール２２－１の出力を用いるか否かを切り換えるために設けられ、第ｎのスイッチ２３－ｎは、第ｎの入力モジュール２１－ｎからの入力データに基づいたライブラリ演算モジュール２２－ｎの出力を用いるか否かを切り換えるために設けられている。合成モジュール２４は、第１のライブラリ演算モジュール２２－１から第ｎのライブラリ演算モジュール２３－ｎの演算結果のうち、第１のスイッチ２３－１から第ｎのスイッチ２３－ｎのオンオフの状態に対応して入力される複数の入力を加減算する。演算モジュール２８は、第１のライブラリ演算モジュール２２－１から第ｎのライブラリ演算モジュール２２－ｎと、第１のスイッチ２３－１から第ｎのスイッチ２３－ｎと、合成モジュール２４と、カムパターン２７とを含み、図１の演算部１２と対応する。 The first switch 23-1 is provided to switch whether or not to use the output of the library operation module 22-1 based on the input data from the first input module 21-1, and the nth switch 23- n is provided for switching whether to use the output of the library operation module 22-n based on the input data from the nth input module 21-n. The synthesis module 24 switches the first switch 23-1 to the nth switch 23-n from the on / off state among the computation results of the first library computation module 22-1 to the nth library computation module 23-n. Add / subtract multiple inputs correspondingly. The calculation module 28 includes a first library calculation module 22-1 to an nth library calculation module 22-n, a first switch 23-1 to an nth switch 23-n, a synthesis module 24, a cam pattern, 27 and corresponds to the calculation unit 12 of FIG.
　図３は、実施の形態に係るモーション制御装置を含むモーション制御システム１０を示す機能ブロック図である。図３に示すモーション制御システム１０は、入力機器１４と、駆動装置である駆動機器１２０と、モーション制御装置１３０と、出力機器１５と、設定装置１５０とを備える。 FIG. 3 is a functional block diagram showing the motion control system 10 including the motion control apparatus according to the embodiment. The motion control system 10 illustrated in FIG. 3 includes an input device 14, a drive device 120 that is a drive device, a motion control device 130, an output device 15, and a setting device 150.
　入力機器１４は、デジタルデータ入力部１１１と、アナログデータ入力部１１２と、ネットワーク入力部１１３と、バス同期通信部１１４ａ，１１４ｂ，１１４ｃとを備える。デジタルデータ入力部１１１は、モーション制御装置１３０に入力されるデジタルデータを出力する。アナログデータ入力部１１２は、モーション制御装置１３０に入力されるアナログデータを出力する。ネットワーク入力部１１３は、モーション制御装置１３０に入力されるネットワーク機器のデータを出力する。バス同期通信部１１４ａは、デジタルデータ入力部１１１に接続され、バス同期通信部１１４ｂは、アナログデータ入力部１１２に接続され、バス同期通信部１１４ｃは、ネットワーク入力部１１３に接続されている。バス同期通信部１１４ａ，１１４ｂ，１１４ｃの各々は、モーション制御装置１３０内のバス同期通信部１３１とともに、ハードウェア間の入力タイミングのばらつきを修正しつつ各入力機器の入力タイミングの同期をとる。入力機器１４で取得したデータは、モーション制御装置１３０内の入力部１３３を通って演算部１３４に転送される。 The input device 14 includes a digital data input unit 111, an analog data input unit 112, a network input unit 113, and bus synchronous communication units 114a, 114b, and 114c. The digital data input unit 111 outputs digital data input to the motion control device 130. The analog data input unit 112 outputs analog data input to the motion control device 130. The network input unit 113 outputs network device data input to the motion control device 130. The bus synchronization communication unit 114 a is connected to the digital data input unit 111, the bus synchronization communication unit 114 b is connected to the analog data input unit 112, and the bus synchronization communication unit 114 c is connected to the network input unit 113. Each of the bus synchronization communication units 114a, 114b, and 114c, together with the bus synchronization communication unit 131 in the motion control device 130, synchronizes the input timing of each input device while correcting variations in input timing between hardware. Data acquired by the input device 14 is transferred to the calculation unit 134 through the input unit 133 in the motion control device 130.
　駆動機器１２０は、駆動軸の現在位置及び速度を取得する現在位置及び速度取得部１２１と、駆動機器１２０内の内部ステータス情報を取得する内部ステータス情報取得部１２２と、駆動軸を制御するサーボ駆動制御部１２３と、モーション制御装置１３０内のサーボ通信同期通信部１３２と同期をとるサーボ通信同期通信部１２４とを備える。サーボ通信同期通信部１２４は、モーション制御装置１３０内のサーボ通信同期通信部１３２とともに、ハードウェア間の入力タイミングのばらつきを修正しつつ駆動機器１２０からの入力タイミングの同期をとる。駆動機器１２０で取得したデータは入力部１３３を通って演算部１３４に転送される。駆動機器１２０は、上記の通りモーション制御装置１３０に対して制御を実行するためのデータを入力する入力機器として動作するとともに、モーション制御装置１３０で演算された結果に基づきモータを制御する出力機器としても動作する。 The drive device 120 includes a current position and speed acquisition unit 121 that acquires the current position and speed of the drive shaft, an internal status information acquisition unit 122 that acquires internal status information in the drive device 120, and a servo drive that controls the drive shaft. A control unit 123 and a servo communication synchronization communication unit 124 that synchronizes with the servo communication synchronization communication unit 132 in the motion control device 130 are provided. The servo communication synchronization communication unit 124, together with the servo communication synchronization communication unit 132 in the motion control device 130, synchronizes the input timing from the drive device 120 while correcting the variation in the input timing between hardware. Data acquired by the driving device 120 is transferred to the arithmetic unit 134 through the input unit 133. The drive device 120 operates as an input device that inputs data for executing control to the motion control device 130 as described above, and as an output device that controls the motor based on the result calculated by the motion control device 130. Also works.
　モーション制御装置１３０は、バス同期通信部１３１，１３１ａと、サーボ通信同期通信部１３２と、入力部１３３と、演算部１３４と、出力部１３５と、仮想軸実現部１３６と、ライブラリ実行部１３７と、同期パラメータ記憶部１３８ａと、電子カムパターン記憶部１３８ｂと、ライブラリ記憶部１３８ｃと、非同期制御演算部１３９と、内部タイマ１１５とを備える。モーション制御装置１３０は、入力部１３３から取得した入力データと、設定装置１５０で設定されて同期パラメータ記憶部１３８ａに記憶された同期パラメータと、ライブラリ記憶部１３８ｃに記憶された計算式とをもとに、電子カムパターン記憶部１３８ｂに記憶されているカムパターンのｘ軸とする入力データを参照する。そして、モーション制御装置１３０は、ｘ軸のデータ（主軸の位相データ）を元に、カムパターンに従いｙ軸を演算する。演算値は、サーボ通信同期通信部１３２を通って駆動機器１２０へ出力され、又はバス同期通信部１３１ａを通って出力機器１５へ出力される。 The motion control device 130 includes a bus synchronization communication unit 131, 131a, a servo communication synchronization communication unit 132, an input unit 133, a calculation unit 134, an output unit 135, a virtual axis realization unit 136, and a library execution unit 137. A synchronization parameter storage unit 138a, an electronic cam pattern storage unit 138b, a library storage unit 138c, an asynchronous control calculation unit 139, and an internal timer 115. The motion control device 130 is based on the input data acquired from the input unit 133, the synchronization parameter set by the setting device 150 and stored in the synchronization parameter storage unit 138a, and the calculation formula stored in the library storage unit 138c. In addition, reference is made to input data for the x-axis of the cam pattern stored in the electronic cam pattern storage unit 138b. Then, the motion control device 130 calculates the y-axis according to the cam pattern based on the x-axis data (principal axis phase data). The calculated value is output to the drive device 120 through the servo communication synchronous communication unit 132 or output to the output device 15 through the bus synchronous communication unit 131a.
　バス同期通信部１３１は、ハードウェア間の入出力タイミングのばらつきを抑えることを目的として特定の同時刻タイミングにおける各々の入力データをバス同期通信部１１４ａ，１１４ｂ，１１４ｃから取得し、入力部１３３へ転送する。また、サーボ通信同期通信部１３２は、サーボ通信同期通信部１２４と同期をとる。 The bus synchronous communication unit 131 acquires each input data at a specific simultaneous timing from the bus synchronous communication units 114a, 114b, and 114c for the purpose of suppressing variations in input / output timing between hardware, and inputs the input data to the input unit 133. Forward. The servo communication synchronization communication unit 132 synchronizes with the servo communication synchronization communication unit 124.
　入力部１３３は、バス同期通信部１３１を経由してモーション制御装置１３０の処理に同期した入力機器１４からの入力データと、サーボ通信同期通信部１２４を経由してモーション制御装置１３０の処理に同期した駆動機器１２０からの入力データとを演算部１３４に入力可能なデータに変換する。 The input unit 133 synchronizes with the input data from the input device 14 synchronized with the processing of the motion control device 130 via the bus synchronization communication unit 131 and with the processing of the motion control device 130 via the servo communication synchronization communication unit 124. The input data from the driving device 120 is converted into data that can be input to the calculation unit 134.
　演算部１３４は、入力部１３３から渡されたデータと、電子カムパターン記憶部１３８ｂに記憶されているカムパターンデータと、ライブラリ実行部１３７から渡された数式ライブラリの計算式と、内部タイマ１１５から渡されたデータとに基づき、出力部１３５へ渡す出力データを演算する。 The calculation unit 134 includes data passed from the input unit 133, cam pattern data stored in the electronic cam pattern storage unit 138 b, a formula library calculation formula passed from the library execution unit 137, and an internal timer 115. Based on the passed data, output data to be passed to the output unit 135 is calculated.
　ライブラリ実行部１３７は、ライブラリ記憶部１３８ｃに記憶された数式ライブラリを展開し、ユーザによって作成された数式ライブラリの計算式を演算部１３４に対して提供する。 The library execution unit 137 expands the mathematical expression library stored in the library storage unit 138c, and provides a calculation formula of the mathematical expression library created by the user to the calculation unit 134.
　仮想軸実現部１３６は、実際の機器が存在しない、例えばテスト用の動作指令などの任意のデータを駆動機器１２０と同様の形式で演算部１３４に対して提供するための機能モジュールである。 The virtual axis realization unit 136 is a functional module for providing the arithmetic unit 134 with arbitrary data such as a test operation command in the same format as the driving device 120, for example, when there is no actual device.
　内部タイマ１１５は、モーション制御装置１３０内に設けられたタイマであり、時刻情報を演算部１３４に提供する。演算部１３４は、内部タイマ１１５から提供される時刻情報に基づき演算を行うことで横軸を時間とする運転パターンにより電子カム制御を実現することも可能である。 The internal timer 115 is a timer provided in the motion control device 130 and provides time information to the calculation unit 134. The computing unit 134 can also perform electronic cam control by an operation pattern with the horizontal axis as time by performing computation based on time information provided from the internal timer 115.
　同期パラメータ記憶部１３８ａは、設定装置１５０内の同期パラメータ設定部１５１が出力する、図２に示す表示画面における各モジュールの組み合わせ状態の同期パラメータを記憶する。電子カムパターン記憶部１３８ｂは、設定装置１５０内の電子カム構築部１５５にて構築された電子カムパターンを記憶する。ライブラリ記憶部１３８ｃは、設定装置１５０内のライブラリ読み取り部１５２にて読み取られた数式ライブラリを記憶する。　　　 The synchronization parameter storage unit 138a stores the synchronization parameter of the combination state of each module on the display screen shown in FIG. 2 output from the synchronization parameter setting unit 151 in the setting device 150. The electronic cam pattern storage unit 138 b stores the electronic cam pattern constructed by the electronic cam construction unit 155 in the setting device 150. The library storage unit 138 c stores the mathematical expression library read by the library reading unit 152 in the setting device 150. *
　非同期制御演算部１３９は、モーション制御装置１３０内の同期制御が不要な１つ又は複数の機器を制御する演算を行う制御演算部を示し、ユーザにより作成された同期の必要のないプログラムである。 The asynchronous control calculation unit 139 indicates a control calculation unit that performs calculation for controlling one or a plurality of devices that do not require synchronous control in the motion control apparatus 130, and is a program that is created by a user and does not require synchronization.
　出力部１３５は、演算部１３４からの出力データをもとに、出力機器１５又は駆動機器１２０へ出力可能なデータに変換する。 The output unit 135 converts the output data from the calculation unit 134 into data that can be output to the output device 15 or the driving device 120.
　出力機器１５は、バス同期通信部１４１ａ，１４１ｂ，１４１ｃと、デジタルデータ出力部１４２と、アナログデータ出力部１４３と、ネットワーク出力部１４４とを備える。バス同期通信部１４１ａはデジタルデータ出力部１４２に接続され、バス同期通信部１４１ｂはアナログデータ出力部１４３に接続され、バス同期通信部１４１ｃはネットワーク出力部１４４に接続されている。バス同期通信部１４１ａ，１４１ｂ，１４１ｃの各々は、モーション制御装置１３０内の出力部１３５からの出力が、出力機器１５内のデジタルデータ出力部１４２、アナログデータ出力部１４３及びネットワーク出力部１４４へ同じタイミングで出力されるようタイミングの同期をとる。デジタルデータ出力部１４２は、モーション制御装置１３０からのデータに応じてデジタルデータを出力する。アナログデータ出力部１４３は、モーション制御装置１３０からのデータに応じてアナログデータを出力する。ネットワーク出力部１４４は、モーション制御装置１３０からの計算結果のデータを外部のネットワークに出力する。 The output device 15 includes a bus synchronous communication unit 141a, 141b, 141c, a digital data output unit 142, an analog data output unit 143, and a network output unit 144. The bus synchronization communication unit 141a is connected to the digital data output unit 142, the bus synchronization communication unit 141b is connected to the analog data output unit 143, and the bus synchronization communication unit 141c is connected to the network output unit 144. In each of the bus synchronous communication units 141a, 141b, and 141c, the output from the output unit 135 in the motion control device 130 is the same as the digital data output unit 142, the analog data output unit 143, and the network output unit 144 in the output device 15. Synchronize the timing so that it is output at the timing. The digital data output unit 142 outputs digital data according to data from the motion control device 130. The analog data output unit 143 outputs analog data according to the data from the motion control device 130. The network output unit 144 outputs the calculation result data from the motion control device 130 to an external network.
　設定装置１５０は、設定時にモーション制御装置１３０に接続可能であり、モーション制御装置１３０の動作時にはモーション制御装置１３０から切り離すことも可能な装置であり、一例としてコンピュータによって実現される。設定装置１５０は、同期パラメータ設定部１５１と、ライブラリ読み取り部１５２と、同期設定画面表示部１５３と、ＩＦ部１５４と、電子カム構築部１５５とを備える。 The setting device 150 is a device that can be connected to the motion control device 130 at the time of setting, and can be disconnected from the motion control device 130 when the motion control device 130 operates, and is realized by a computer as an example. The setting device 150 includes a synchronization parameter setting unit 151, a library reading unit 152, a synchronization setting screen display unit 153, an IF unit 154, and an electronic cam construction unit 155.
　同期パラメータ設定部１５１は、同期設定画面表示部１５３で構築された入力機器１４と出力機器１５との同期パラメータの設定、スイッチ設定及び演算モジュールといった各モジュールの同期パラメータの設定と、組み合わせ状態の情報とをモーション制御装置１３０が参照できるよう、同期パラメータ記憶部１３８ａへ記憶させる。 The synchronization parameter setting unit 151 sets the synchronization parameters of the modules such as the synchronization parameter setting of the input device 14 and the output device 15 constructed by the synchronization setting screen display unit 153, the switch setting and the calculation module, and the information on the combination state Are stored in the synchronization parameter storage unit 138a so that the motion control device 130 can refer to them.
　ライブラリ読み取り部１５２は、ライブラリ構築装置１６０で構築した数式ライブラリを設定装置１５０に読み取り、モーション制御装置１３０内のライブラリ記憶部１３８ｃに記憶させる。 The library reading unit 152 reads the mathematical expression library constructed by the library construction device 160 by the setting device 150 and stores it in the library storage unit 138c in the motion control device 130.
　同期設定画面表示部１５３は、図２に示す各出力の設定画面及び後述する図６，７に示す画面を表示させる表示部である。同期設定画面表示部１５３は、モーション制御システム１０に含まれるモーション制御装置１３０に接続されて切り離し可能な表示装置に搭載されていてもよい。 The synchronization setting screen display unit 153 is a display unit that displays each output setting screen shown in FIG. 2 and screens shown in FIGS. The synchronization setting screen display unit 153 may be mounted on a display device that is connected to the motion control device 130 included in the motion control system 10 and can be disconnected.
　ＩＦ部１５４は、ユーザが操作可能な入力機器であり、設定入力時に操作内容を同期設定画面表示部１５３に出力し、表示画面に操作内容を反映させる。 The IF unit 154 is an input device that can be operated by the user, and outputs the operation content to the synchronization setting screen display unit 153 when setting is input, and reflects the operation content on the display screen.
　電子カム構築部１５５は、同期設定画面表示部１５３及びＩＦ部１５４を用いた電子カム曲線の設定手段を提供し、モーション制御装置１３０が参照できるよう電子カムパターン記憶部１３８ｂに記憶させる。 The electronic cam construction unit 155 provides electronic cam curve setting means using the synchronization setting screen display unit 153 and the IF unit 154, and stores them in the electronic cam pattern storage unit 138b so that the motion control device 130 can refer to them.
　ライブラリ構築装置１６０は、例えば数式ライブラリがＣ言語で記述されるものであった場合、Ｃ言語を編集し、モーション制御装置１３０が実行できる形式に変換（コンパイル）するものである。この数式ライブラリは、ライブラリ読み取り部１５２によって読み取られ、モーション制御装置１３０のライブラリ記憶部１３８ｃに記憶させる。 For example, when the mathematical expression library is described in C language, the library construction device 160 edits the C language and converts (compiles) it into a format that can be executed by the motion control device 130. The mathematical expression library is read by the library reading unit 152 and stored in the library storage unit 138c of the motion control device 130.
　図４は、図３に示すモーション制御システム１０を実現するハードウェアの構成を示すブロック図である。図４に示すモーション制御システム１０は、入力機器１４と、駆動機器１２０と、モーション制御装置１３０と、出力機器１５と、設定装置１５０とを備える。 FIG. 4 is a block diagram showing a hardware configuration for realizing the motion control system 10 shown in FIG. The motion control system 10 illustrated in FIG. 4 includes an input device 14, a drive device 120, a motion control device 130, an output device 15, and a setting device 150.
　入力機器１４は、センサ２１１と、センサ２１１に接続されてアナログデータをデジタルデータに変換するＡＤ変換ユニット２１２と、スイッチ２１３と、スイッチ２１３に接続されてオンオフ信号が入力されるデジタルデータ入力ユニット２１４と、ネットワーク機器２１５と、ネットワーク機器２１５に接続されてデータが入力されるネットワーク２１６とを備える。 The input device 14 includes a sensor 211, an AD conversion unit 212 that is connected to the sensor 211 and converts analog data into digital data, a switch 213, and a digital data input unit 214 that is connected to the switch 213 and receives an on / off signal. And a network device 215 and a network 216 connected to the network device 215 to which data is input.
　駆動機器１２０は、サーボアンプ２２１と、サーボアンプ２２１によって駆動されるモータ２２２とを備える。 The driving device 120 includes a servo amplifier 221 and a motor 222 driven by the servo amplifier 221.
　モーション制御装置１３０は、データ転送可能なバス２３１と、ＣＰＵ（Central　Processing　Unit）２３２と、ＲＯＭ（Read　Only　Memory）２３３と、ＲＡＭ（Random　Access　Memory）２３４と、サーボ通信回路２３５とを備える。図３に示すバス同期通信部１３１は、図４に示すバス２３１によって実現される。図３に示すサーボ通信同期通信部１３２は、図４に示すサーボ通信回路２３５によって実現される。図３に示す入力部１３３、演算部１３４、出力部１３５、仮想軸実現部１３６及びライブラリ実行部１３７を実現するプログラムは図４に示すＲＯＭ２３３に記憶されており、図４に示すＣＰＵ２３２と図４に示すＲＡＭ２３４とを用いて演算処理を行うことでこれらの構成が実現される。図３に示す同期パラメータ記憶部１３８ａと、電子カムパターン記憶部１３８ｂと、ライブラリ記憶部１３８ｃと、内部タイマ及び仮想軸とは、図４に示すＲＯＭ２３３に記憶されている。なお、非同期制御演算部１３９は、図４に示すＲＯＭ２３３に記憶され、ＣＰＵ２３２及びＲＡＭ２３４によって実行されればよい。 The motion control device 130 includes a bus 231 that can transfer data, a CPU (Central Processing Unit) 232, a ROM (Read Only Memory) 233, a RAM (Random Access Memory) 234, and a servo communication circuit 235. The bus synchronous communication unit 131 illustrated in FIG. 3 is realized by the bus 231 illustrated in FIG. The servo communication synchronous communication unit 132 shown in FIG. 3 is realized by the servo communication circuit 235 shown in FIG. The programs for realizing the input unit 133, the calculation unit 134, the output unit 135, the virtual axis realization unit 136, and the library execution unit 137 shown in FIG. 3 are stored in the ROM 233 shown in FIG. 4, and the CPU 232 shown in FIG. These configurations are realized by performing arithmetic processing using the RAM 234 shown in FIG. The synchronization parameter storage unit 138a, the electronic cam pattern storage unit 138b, the library storage unit 138c, the internal timer, and the virtual axis shown in FIG. 3 are stored in the ROM 233 shown in FIG. Note that the asynchronous control calculation unit 139 may be stored in the ROM 233 illustrated in FIG. 4 and executed by the CPU 232 and the RAM 234.
　出力機器１５は、モーション制御装置１３０からのデータが入力されるアナログ変換ユニット２４１と、アナログ変換ユニット２４１が出力するアナログデータによって制御されるレーザ２４２と、モーション制御装置１３０からのデータが入力されるデジタルデータ出力ユニット２４３と、デジタルデータ出力ユニット２４３が出力するデータによって制御されるステッピングモータ２４４と、モーション制御装置１３０からのデータが入力されるネットワーク２４５と、ネットワーク２４５からのデータによって制御されるネットワーク機器２４６とを備える。 The output device 15 receives an analog conversion unit 241 to which data from the motion control device 130 is input, a laser 242 controlled by analog data output from the analog conversion unit 241, and data from the motion control device 130. Digital data output unit 243, stepping motor 244 controlled by data output from digital data output unit 243, network 245 to which data from motion control device 130 is input, and network controlled by data from network 245 Device 246.
　設定装置１５０は、ディスプレイ２５１と、ＣＰＵ２５２と、ＲＯＭ２５３と、ＲＡＭ２５４とを備える。図３に示す同期設定画面表示部１５３は、図４に示すディスプレイ２５１によって実現される。図３に示す同期パラメータ設定部１５１、ライブラリ読み取り部１５２及び電子カム構築部１５５を実現するプログラムは、図４に示すＲＯＭ２５３に記憶されており、図４に示すＣＰＵ２５２とＲＡＭ２５４とを用いて演算処理を行うことでこれらの構成が実現される。図３に示すＩＦ部１５４は図示していないが、ユーザが操作可能な入力機器であればよく、入力機器にはマウス及びキーボードを例示することができる。 The setting device 150 includes a display 251, a CPU 252, a ROM 253, and a RAM 254. The synchronization setting screen display unit 153 shown in FIG. 3 is realized by the display 251 shown in FIG. A program for realizing the synchronization parameter setting unit 151, the library reading unit 152, and the electronic cam construction unit 155 shown in FIG. 3 is stored in the ROM 253 shown in FIG. 4, and is calculated using the CPU 252 and the RAM 254 shown in FIG. By implementing this, these configurations are realized. Although the IF unit 154 illustrated in FIG. 3 is not illustrated, any input device that can be operated by the user may be used, and examples of the input device include a mouse and a keyboard.
　なお、ライブラリ構築装置１６０のハードウェア構成は図示していないが、設定装置１５０と同様である。 The hardware configuration of the library construction device 160 is not shown, but is the same as that of the setting device 150.
　ＡＤ変換ユニット２１２に接続するセンサ２１１には、圧力センサ、加速度センサ、温度センサ、電流センサ、電圧センサ及び照度センサを例示することができる。デジタルデータ入力ユニット２１４に接続するスイッチ２１３には、画像センサを例示することができる。ネットワーク２１６に接続するネットワーク機器２１５には、タッチパネル及びインターネットを介した大規模データベースを例示することができる。サーボアンプ２２１から入力されるデータには、現在回転速度、現在位置、加速度アラーム状態及び磁極位置を例示することができる。 Examples of the sensor 211 connected to the AD conversion unit 212 include a pressure sensor, an acceleration sensor, a temperature sensor, a current sensor, a voltage sensor, and an illuminance sensor. An image sensor can be exemplified as the switch 213 connected to the digital data input unit 214. Examples of the network device 215 connected to the network 216 include a large-scale database via a touch panel and the Internet. The data input from the servo amplifier 221 can exemplify the current rotation speed, the current position, the acceleration alarm state, and the magnetic pole position.
　ネットワーク２４５に接続されるネットワーク機器２４６には、タッチパネル及びインターネットを介した大規模データベースを例示することができる。サーボアンプ２２１に出力されるデータには、指令回転速度、指令位置及び指令加速度を例示することができる。 The network device 246 connected to the network 245 can be exemplified by a large-scale database via a touch panel and the Internet. Examples of data output to the servo amplifier 221 include command rotation speed, command position, and command acceleration.
　以上説明したように、図４に示すモーション制御システム１０のハードウェアによって図３に示すモーション制御システム１０を実現することができる。 As described above, the motion control system 10 shown in FIG. 3 can be realized by the hardware of the motion control system 10 shown in FIG.
　図５は、後述する図６に示す画面によって動作する、実施の形態に係るモーション制御装置を含むモーション制御システムの実装置構成例を示す図である。この実装置構成例では、部材を左右に搬送する位置に合わせて、部材をカットするレーザの出力を最適となるパターンで変化させるものである。図５には、モーション制御装置が外部からの信号により動作するのではなく、内部のプログラムに従って動作する例を示している。 FIG. 5 is a diagram showing an example of a real device configuration of a motion control system including the motion control device according to the embodiment, which operates according to the screen shown in FIG. 6 to be described later. In this actual apparatus configuration example, the output of the laser for cutting the member is changed in an optimum pattern in accordance with the position where the member is conveyed to the left and right. FIG. 5 shows an example in which the motion control apparatus operates according to an internal program rather than operating according to an external signal.
　図５には、各出力の同期タイミングのマスタの役割を持つ仮想軸であるマスタ入力部４０１、部材を搬送するアナログ出力モータであるサーボモータ４０２、アナログ出力のレーザを出力するレーザ出力装置４０３、ネットワーク出力が接続されているモーション制御装置４０４及びレーザカット中の部材温度を計測する温度センサ４０５が示されている。仮想軸４０１はユーザの設定した速度などで動作する仮想サーボモータである。仮想軸４０１の速度及び位相に合わせて、サーボモータ４０２及びレーザ出力装置４０３が同期動作する。温度センサ４０５は、部材温度を計測する。なお、スレーブカム４１２は、サーボモータ４０２であり、スレーブカム４１３は、レーザ出力装置４０３である。 FIG. 5 includes a master input unit 401 that is a virtual axis that serves as a master for the synchronization timing of each output, a servo motor 402 that is an analog output motor that conveys a member, a laser output device 403 that outputs an analog output laser, A motion control device 404 to which a network output is connected and a temperature sensor 405 for measuring a member temperature during laser cutting are shown. The virtual axis 401 is a virtual servo motor that operates at a speed set by the user. The servo motor 402 and the laser output device 403 operate in synchronization with the speed and phase of the virtual axis 401. The temperature sensor 405 measures the member temperature. The slave cam 412 is a servo motor 402, and the slave cam 413 is a laser output device 403.
　電子カムパターン４１２ａは、サーボモータ４０２の動作を記述する。電子カムパターン４１２ａは、仮想軸である横軸の位相に合わせて往復運動を行う運転パターンである。カムパターン４１３ａは、レーザビームの出力強度を記述する。カムパターン４１３ａは、仮想軸である横軸の位相の中心近傍で最大の強度となるパターンである。 The electronic cam pattern 412a describes the operation of the servo motor 402. The electronic cam pattern 412a is an operation pattern that reciprocates in accordance with the phase of the horizontal axis that is a virtual axis. The cam pattern 413a describes the output intensity of the laser beam. The cam pattern 413a is a pattern having the maximum intensity near the center of the phase of the horizontal axis that is the virtual axis.
　また、サーボモータ４０２及びレーザ出力装置４０３の動作時の部材の温度は温度センサ４０５で計測される。レーザ出力装置４０３の出力は、スレーブカム４１３によって仮想主軸の位相に従った出力強度と、温度センサ４０５から取得した温度データにより演算モジュール５０３で演算される値と合算されて出力される。このため、部材の位置に同期した強度でレーザビームを照射するとともに実際の温度からなるフィードバック制御を同期して実行することで最適な強度でレーザ切断を実行することができる。 Further, the temperature of the member during operation of the servo motor 402 and the laser output device 403 is measured by the temperature sensor 405. The output of the laser output device 403 is output by adding the output intensity according to the phase of the virtual main axis by the slave cam 413 and the value calculated by the calculation module 503 based on the temperature data acquired from the temperature sensor 405. For this reason, it is possible to perform laser cutting with the optimum intensity by irradiating the laser beam with the intensity synchronized with the position of the member and executing the feedback control including the actual temperature in synchronization.
　また、スレーブカム４１２の位相とスレーブカム４１３の位相とをずらすことで、レーザ出力の強さと搬送軸の位置であるカット位置を調整することができ、ラダー言語で作成されるプログラムを必要とせず、パラメータの設定及び調整のみでサーボモータのモーション制御とＩＯ制御とを統合し、カムの動作及び温度に連動してレーザ出力を変化させる、といった制御を実現することが可能である。 Further, by shifting the phase of the slave cam 412 and the phase of the slave cam 413, the laser output strength and the cutting position that is the position of the transport axis can be adjusted, and a program created in a ladder language is not required. It is possible to realize such control that the servo motor motion control and IO control are integrated only by parameter setting and adjustment, and the laser output is changed in accordance with the cam operation and temperature.
　図６は、図５に示すモーション制御装置の実装置構成例における同期設定の画面を示す図である。入力モジュール５０１は、図５に示すマスタ入力部４０１のプログラム中に存在する仮想サーボモータからの入力を表す。入力モジュール５０２は、図５に示す温度センサ４０５からの入力を表す。演算モジュール５０３は、温度センサ４０５からの温度データをもとに演算を行う。スイッチモジュール５０４は、演算モジュール５０３の演算結果を出力に伝達するかを選択する。合成モジュール５０５は、入力モジュール５０２からの入力とスイッチモジュール５０４のデータとを合成する。カムパターン５０６は、図５に示すスレーブカム４１２で示されたモータの動作を記述する。カムパターン５０７は、図５に示すスレーブカム４１３で示されたレーザ出力の強度を記述する。出力モジュール５０８は、サーボモータ４０２を表す。出力モジュール５０９は、レーザ出力装置４０３を表す。 FIG. 6 is a diagram showing a synchronization setting screen in the actual apparatus configuration example of the motion control apparatus shown in FIG. The input module 501 represents an input from a virtual servo motor that exists in the program of the master input unit 401 shown in FIG. The input module 502 represents an input from the temperature sensor 405 shown in FIG. The calculation module 503 performs a calculation based on the temperature data from the temperature sensor 405. The switch module 504 selects whether to transmit the calculation result of the calculation module 503 to the output. The synthesis module 505 synthesizes the input from the input module 502 and the data of the switch module 504. The cam pattern 506 describes the operation of the motor indicated by the slave cam 412 shown in FIG. The cam pattern 507 describes the intensity of the laser output indicated by the slave cam 413 shown in FIG. The output module 508 represents the servo motor 402. The output module 509 represents the laser output device 403.
　同期設定画面１において、出力モジュール５０８はカムデータ５０６を経由して同期設定画面２の入力モジュール５０１に接続されている。 In the synchronization setting screen 1, the output module 508 is connected to the input module 501 of the synchronization setting screen 2 via the cam data 506.
　同期設定画面２において、入力モジュール５０１は合成モジュール５０５に接続され、入力モジュール５０２は演算モジュール５０３に接続され、演算モジュール５０３はスイッチ５０４に接続されている。合成モジュール５０５は、カムパターン５０７を経由して出力モジュール５０９に接続されている。 In the synchronization setting screen 2, the input module 501 is connected to the synthesis module 505, the input module 502 is connected to the arithmetic module 503, and the arithmetic module 503 is connected to the switch 504. The synthesis module 505 is connected to the output module 509 via the cam pattern 507.
　図７は、実施の形態に係る、他のモーション制御装置の同期設定の画面を示す図である。図７に示す画面が表示されるモーション制御装置は、モータで部材を搬送しつつ搬送位置と温度に応じたレーザの強さでカットし、ネットワーク経由で部材の温度をモニタリングする装置である。図７に示す画面には、図２で設定した同期設定画面の３つを設定後、同一の出力設定であるものをまとめて１画面に表示している。 FIG. 7 is a diagram illustrating a synchronization setting screen of another motion control device according to the embodiment. The motion control device on which the screen shown in FIG. 7 is displayed is a device that monitors the temperature of a member via a network by cutting the member with a motor according to the strength of the laser according to the conveyance position and temperature. In the screen shown in FIG. 7, after setting the three synchronization setting screens set in FIG. 2, the same output settings are collectively displayed on one screen.
　同期設定画面１において、出力モジュール３０１はカムデータ３５１を経由して同期設定画面２の入力モジュール３１１に接続されている。出力モジュール３０１は搬送軸である。 In the synchronization setting screen 1, the output module 301 is connected to the input module 311 of the synchronization setting screen 2 via the cam data 351. The output module 301 is a conveyance shaft.
　同期設定画面２において、入力モジュール３１１は演算モジュール３２１に接続され、演算モジュール３２１はスイッチ３３１に接続され、スイッチ３３１は合成モジュール３４１に接続されている。入力モジュール３１１は搬送軸である出力モジュール３０１とレーザ出力である出力モジュール３０２を連動して電子カム制御するため共通のマスタ軸となる仮想軸である。入力モジュール３１２はスイッチ３３２に接続され、スイッチ３３２は合成モジュール３４１に接続されている。入力モジュール３１２はＡＤユニット温度センサであり部材の温度を監視する。合成モジュール３４１の出力側はカムデータ３５２を経由して出力モジュール３０２に接続されている。出力モジュール３０２はＤＡユニットに接続されたレーザ出力である。 In the synchronization setting screen 2, the input module 311 is connected to the calculation module 321, the calculation module 321 is connected to the switch 331, and the switch 331 is connected to the synthesis module 341. The input module 311 is a virtual axis serving as a common master axis for performing electronic cam control in conjunction with the output module 301 serving as a transport axis and the output module 302 serving as a laser output. The input module 312 is connected to the switch 332, and the switch 332 is connected to the synthesis module 341. The input module 312 is an AD unit temperature sensor and monitors the temperature of the member. The output side of the synthesis module 341 is connected to the output module 302 via the cam data 352. The output module 302 is a laser output connected to the DA unit.
　同期設定画面３において、通信モジュール３０３はカムデータ３５３を経由して演算モジュール３２２に接続され、演算モジュール３２２は同期設定画面２の入力モジュール３１２に接続されている。なお、演算モジュール３２２は、入力モジュール３１２から入力されたデータを通信モジュール３０３から送信する形式に変換する演算ライブラリモジュールである。 In the synchronization setting screen 3, the communication module 303 is connected to the calculation module 322 via the cam data 353, and the calculation module 322 is connected to the input module 312 of the synchronization setting screen 2. Note that the arithmetic module 322 is an arithmetic library module that converts data input from the input module 312 into a format to be transmitted from the communication module 303.
　なお、出力モジュール３０１ではカムデータ３５１のカムパターンが用いられ、出力モジュール３０２ではカムデータ３５２のカムパターンが用いられ、通信モジュール３０３ではカムデータ３５３のカムパターンが用いられる。通信モジュール３０３は通信温度データモニタ用の通信機能モジュールである。 The output module 301 uses the cam pattern of the cam data 351, the output module 302 uses the cam pattern of the cam data 352, and the communication module 303 uses the cam pattern of the cam data 353. The communication module 303 is a communication function module for monitoring communication temperature data.
　図７において、モーション制御装置の運転の一例として、入力モジュール３１１からの仮想軸の移動量の入力値が１００であり、入力モジュール３１２からの温度センサの温度が５３であり、演算モジュール３２１における演算では１を加算する演算が選択され、スイッチ３３１及びスイッチ３３２の双方が繋がっている場合には合成モジュール３４１からの出力値は１５４であり、すなわち出力モジュール３０２のレーザ出力値は入力モジュール３１１の入力値と連結した搬送軸の位置と、温度センサである入力モジュール３１２の温度と、演算モジュール３２１の補正値とに連動し、カムデータ３５２に基づいてレーザの強さが増減する制御となる。スイッチ３３１及びスイッチ３３２の双方が繋がっていない場合には搬送軸である出力モジュール３０１は搬送を行うが、合成モジュール３４１からの出力値は０であるため、出力モジュール３０２のレーザは停止している制御となる。スイッチ３３１が繋がっており、スイッチ３３２が繋がっていない場合には合成モジュール３４１からの出力値は１０１であり、入力モジュール３１１の入力にのみ応じ、温度センサである入力モジュール３１２には影響されないレーザ出力の制御となる。スイッチ３３１が繋がっておらず、スイッチ３３２が繋がっている場合には合成モジュール３４１からの出力値は５３であり、温度センサである入力モジュール３１２の値にのみレーザ出力が左右される制御となる。 In FIG. 7, as an example of the operation of the motion control device, the input value of the movement amount of the virtual axis from the input module 311 is 100, the temperature of the temperature sensor from the input module 312 is 53, and the calculation in the calculation module 321 is performed. In the case where the operation of adding 1 is selected and both the switch 331 and the switch 332 are connected, the output value from the synthesis module 341 is 154, that is, the laser output value of the output module 302 is the input of the input module 311. The control is performed to increase or decrease the intensity of the laser based on the cam data 352 in conjunction with the position of the conveyance axis connected to the value, the temperature of the input module 312 which is a temperature sensor, and the correction value of the calculation module 321. When both the switch 331 and the switch 332 are not connected, the output module 301 that is the transport axis performs transport, but the output value from the synthesis module 341 is 0, so the laser of the output module 302 is stopped. It becomes control. When the switch 331 is connected and the switch 332 is not connected, the output value from the synthesis module 341 is 101, and the laser output that is not affected by the input module 311 that is a temperature sensor only according to the input of the input module 311. It becomes control of. When the switch 331 is not connected and the switch 332 is connected, the output value from the synthesis module 341 is 53, and the laser output is controlled only by the value of the input module 312 which is a temperature sensor.
　出力モジュール３０２は、カムデータ３５２のカムパターンのｘ軸から、合成モジュール３４１からの出力値を探索し、ｘ軸の値に対応するｙ軸の値を出力モジュール３０２の出力値として出力する。出力モジュール３０２は、この出力値に基づくレーザ光を出力する。出力モジュール３０１は、カムデータ３５１のｘ軸に入力モジュール３１１からの入力値である１００をとり、このときのｙ軸の値を出力モジュール３０１の出力値として出力し、搬送軸のモータを駆動する。同様に、通信モジュール３０３は、カムデータ３５３のｘ軸に入力モジュール３１２からの入力値である５３を参照し、このときのｙ軸の値を通信モジュール３０３の出力値としてモーション制御装置に接続されたネットワークユニットへ出力し、ネットワーク上のデータベースへ温度情報を送信する。 The output module 302 searches for the output value from the synthesis module 341 from the x-axis of the cam pattern of the cam data 352, and outputs the y-axis value corresponding to the x-axis value as the output value of the output module 302. The output module 302 outputs laser light based on this output value. The output module 301 takes 100 which is the input value from the input module 311 on the x axis of the cam data 351, outputs the value of the y axis at this time as the output value of the output module 301, and drives the motor of the conveyance axis. . Similarly, the communication module 303 refers to 53 which is an input value from the input module 312 on the x axis of the cam data 353, and is connected to the motion control device using the y axis value at this time as the output value of the communication module 303. Output to a network unit and send temperature information to a database on the network.
　図８は、実施の形態に係るモーション制御装置の動作を示すフローチャートである。まず、処理をスタートし、入力部１３３は、同期パラメータ記憶部１３８ａから入力された同期パラメータを読み出し、演算部１３４へ渡す（Ｓ１１）。すなわち、Ｓ１１によって、入力機器１４のどの入力データを読むのかが決められる。次に、演算部１３４は、ライブラリ実行部１３７を経由してライブラリ記憶部１３８ｃからライブラリを読み出す（Ｓ１２）。なお、このライブラリに代えて既存の計算関数が用いられてもよい。これにより、演算の準備が行われる。次に、演算部１３４は、入力部１３３から取得した入力データと、同期設定画面表示部１５３で構築した組み合わせとをもとに演算を行う（Ｓ１３）。この同期設定画面表示部１５３で構築した組み合わせは、図２に示す表示画面における各モジュールの組み合わせ状態であり、同期パラメータ記憶部１３８ａに記憶されている。そして、演算部１３４は、モーション制御装置内部の現在のスイッチ状態判定を行い（Ｓ１４）、別の入力部の入力結果との合成演算を行い（Ｓ１５）、Ｓ１２で読み出したライブラリをもとにライブラリ演算を行う（Ｓ１６）。そして、演算部１３４は、ここまでの演算結果をカムパターンのｘ軸とし、ｙ軸のデータを出力部１３５へ出力する（Ｓ１７）。最後に、出力部１３５は、同期パラメータ記憶部１３８ａのデータと演算部１３４から渡されたデータとをもとに、設定された出力機器１５又は駆動機器１２０へデータを出力し（Ｓ１８）、処理をエンドする。このように、モーション制御装置が同期タイミングを取りつつ入出力を繰り返し実行することで、ラダー言語によって作成されたプログラムを必要とすることなく、ＩＯ制御とモーション制御とを統合した複雑な制御をカムパターン及びパラメータの設定のみで実現することができる。 FIG. 8 is a flowchart showing the operation of the motion control apparatus according to the embodiment. First, the processing is started, and the input unit 133 reads the synchronization parameter input from the synchronization parameter storage unit 138a and passes it to the calculation unit 134 (S11). That is, it is determined by S11 which input data of the input device 14 is read. Next, the calculation unit 134 reads the library from the library storage unit 138c via the library execution unit 137 (S12). An existing calculation function may be used instead of this library. Thereby, preparation for calculation is performed. Next, the calculation unit 134 performs a calculation based on the input data acquired from the input unit 133 and the combination constructed by the synchronization setting screen display unit 153 (S13). The combination constructed by the synchronization setting screen display unit 153 is a combination state of each module on the display screen shown in FIG. 2, and is stored in the synchronization parameter storage unit 138a. Then, the calculation unit 134 determines the current switch state inside the motion control device (S14), performs a combination calculation with the input result of another input unit (S15), and the library based on the library read in S12. An operation is performed (S16). Then, the calculation unit 134 sets the calculation result so far as the x-axis of the cam pattern, and outputs the y-axis data to the output unit 135 (S17). Finally, the output unit 135 outputs the data to the set output device 15 or the driving device 120 based on the data in the synchronization parameter storage unit 138a and the data passed from the calculation unit 134 (S18). End. In this way, the motion control device repeatedly executes input and output while taking the synchronization timing, so that complicated control that integrates IO control and motion control can be performed without requiring a program created in a ladder language. This can be realized only by setting patterns and parameters.
　以上説明した実施の形態によれば、プログラム言語を用いることなくパラメータの設定及びカムパターンの作成によりモーション制御とＩＯ制御とを統合して制御することができる。 According to the embodiment described above, motion control and IO control can be integrated and controlled by setting parameters and creating cam patterns without using a program language.
　以上説明した実施の形態に係るモーション制御装置は、駆動機器１２０及び出力機器１５が接続された構成であり、１サイクルあたりの入力データに応じた出力パターンで出力機器１５の出力制御を行うと同時に駆動機器１２０の電子カム制御を行い、駆動機器１２０の電子カム制御を記述する制御ブロックと、出力機器１５の出力制御を記述する制御ブロックとが図２に示すように同一形式のブロックで表現される。また、実施の形態に係るモーション制御装置に入力機器１４が接続されている場合には、接続された入力機器１４の入力データを用いて駆動機器１２０及び出力機器１５を制御可能である。更には、実施の形態に係るモーション制御装置に接続される外部表示装置である同期設定画面表示部１５３では、駆動機器１２０の電子カム制御のカムパターンのパラメータを設定する画面と、出力機器１５の制御パラメータを設定する画面とを１画面に表示する。 The motion control apparatus according to the embodiment described above has a configuration in which the driving device 120 and the output device 15 are connected, and simultaneously performs output control of the output device 15 with an output pattern corresponding to input data per cycle. A control block that performs electronic cam control of the drive device 120 and describes the electronic cam control of the drive device 120 and a control block that describes output control of the output device 15 are expressed by blocks of the same format as shown in FIG. The Further, when the input device 14 is connected to the motion control apparatus according to the embodiment, the drive device 120 and the output device 15 can be controlled using input data of the connected input device 14. Furthermore, in the synchronization setting screen display unit 153 that is an external display device connected to the motion control device according to the embodiment, a screen for setting the parameters of the cam pattern of the electronic cam control of the driving device 120, and the output device 15 A screen for setting control parameters is displayed on one screen.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１０　モーション制御システム、１１　入力部、１２　演算部、１３　出力部、１４　入力機器、１５　出力機器、２０－１　設定画面、２０－２　モジュール選択画面、２１－１　第１の入力モジュール、２１－１ａ　第１の入力設定画面、２１－ｎ　第ｎの入力モジュール、２２－１　第１の演算モジュール、２２－１ａ　第１のライブラリ設定読み出し画面、２２－ｎ　第ｎの演算モジュール、２３－１　第１のスイッチ、２３－ｎ　第ｎのスイッチ、２４　合成モジュール、２４－ａ　合成設定画面、２５　出力モジュール、２６　出力設定画面、２７　カムパターン、２７－ａ　カムパターン設定画面、２８　演算モジュール、１１１　デジタルデータ入力部、１１２　アナログデータ入力部、１１３　ネットワーク入力部、１１４ａ，１１４ｂ，１１４ｃ　バス同期通信部、１１５　内部タイマ、１２０　駆動機器、１２１　現在位置及び速度取得部、１２２　内部ステータス情報取得部、１２３　サーボ駆動制御部、１２４　サーボ通信同期通信部、１３０　モーション制御装置、１３１，１３１ａ　バス同期通信部、１３２　サーボ通信同期通信部、１３３　入力部、１３４　演算部、１３５　出力部、１３６　仮想軸実現部、１３７　ライブラリ実行部、１３８ａ　同期パラメータ記憶部、１３８ｂ　電子カムパターン記憶部、１３８ｃ　ライブラリ記憶部、１３９　非同期制御演算部、１４１ａ，１４１ｂ，１４１ｃ　バス同期通信部、１４２　デジタルデータ出力部、１４３　アナログデータ出力部、１４４　ネットワーク出力部、１５０　設定装置、１５１　同期パラメータ設定部、１５２　ライブラリ読み取り部、１５３　同期設定画面表示部、１５４　ＩＦ部、１５５　電子カム構築部、１６０　ライブラリ構築装置、２１１　センサ、２１２　ＡＤ変換ユニット、２１３　スイッチ、２１４　デジタルデータ入力ユニット、２１５，２４６　ネットワーク機器、２１６，２４５　ネットワーク、２２１　サーボアンプ、２２２　モータ、２３１　バス、２３２，２５２　ＣＰＵ、２３３，２５３　ＲＯＭ、２３４，２５４　ＲＡＭ、２３５　サーボ通信回路、２４１　アナログ変換ユニット、２４２　レーザ、２４３　デジタルデータ出力ユニット、２４４　ステッピングモータ、２５１　ディスプレイ、３０１，３０２　出力モジュール、３０３　通信モジュール、３１１，３１２　入力モジュール、３２１，３２２　演算モジュール、３３１，３３２　スイッチ、３４１　合成モジュール、３５１，３５２，３５３　カムデータ、４０１　マスタ入力部、４０２　サーボモータ、４０３　レーザ出力装置、４０４　モーション制御装置、４０５　温度センサ、４１２，４１３　スレーブカム、４１２ａ　電子カムパターン、４１３ａ　カムパターン、５０１，５０２　入力モジュール、５０３　演算モジュール、５０４　スイッチモジュール、５０５　合成モジュール、５０６，５０７　カムパターン、５０８，５０９　出力モジュール。 10 motion control system, 11 input unit, 12 calculation unit, 13 output unit, 14 input device, 15 output device, 20-1 setting screen, 20-2 module selection screen, 21-1 first input module, 21-1a First input setting screen, 21-n nth input module, 22-1 first arithmetic module, 22-1a first library setting read screen, 22-n nth arithmetic module, 23-1 first Switch, 23-n nth switch, 24 composition module, 24-a composition setting screen, 25 output module, 26 output setting screen, 27 cam pattern, 27-a cam pattern setting screen, 28 arithmetic module, 111 digital data Input unit, 112 Analog data input unit, 113 Network input unit, 1 4a, 114b, 114c Bus synchronous communication unit, 115 internal timer, 120 driving device, 121 current position and speed acquisition unit, 122 internal status information acquisition unit, 123 servo drive control unit, 124 servo communication synchronous communication unit, 130 motion control device 131, 131a Bus synchronous communication unit, 132 Servo communication synchronous communication unit, 133 input unit, 134 calculation unit, 135 output unit, 136 virtual axis realization unit, 137 library execution unit, 138a synchronization parameter storage unit, 138b electronic cam pattern storage Part, 138c library storage part, 139 asynchronous control arithmetic part, 141a, 141b, 141c bus synchronous communication part, 142 digital data output part, 143 analog data output part, 144 network output part, 150 setting device, 1 1 synchronization parameter setting unit, 152 library reading unit, 153 synchronization setting screen display unit, 154 IF unit, 155 electronic cam building unit, 160 library building device, 211 sensor, 212 AD conversion unit, 213 switch, 214 digital data input unit, 215,246 network equipment, 216,245 network, 221 servo amplifier, 222 motor, 231 bus, 232,252 CPU, 233,253 ROM, 234,254 RAM, 235 servo communication circuit, 241 analog conversion unit, 242 laser, 243 Digital data output unit, 244 stepping motor, 251 display, 301, 302 output module, 303 communication module, 311 312 input Force module, 321, 322 calculation module, 331, 332 switch, 341 synthesis module, 351, 352, 353 cam data, 401 master input unit, 402 servo motor, 403 laser output device, 404 motion control device, 405 temperature sensor, 412 , 413 slave cam, 412a electronic cam pattern, 413a cam pattern, 501, 502 input module, 503 arithmetic module, 504 switch module, 505 synthesis module, 506, 507 cam pattern, 508, 509 output module.

Claims (3)

  1. 　駆動機器及び出力機器が接続されたモーション制御装置であって、
    　入力データに応じた出力パターンで前記出力機器の出力制御を行うと同時に前記駆動機器の電子カム制御を行い、
    　前記駆動機器の電子カム制御を記述する制御ブロックと、前記出力機器の出力制御を記述する制御ブロックとが同一形式のブロックで表現されることを特徴とするモーション制御装置。     A motion control device to which a driving device and an output device are connected,
    At the same time as performing the output control of the output device in the output pattern according to the input data, the electronic cam control of the drive device
    A motion control apparatus characterized in that a control block describing electronic cam control of the driving device and a control block describing output control of the output device are expressed by blocks of the same format.
  2. 　接続された入力機器の入力データを用いて前記駆動機器及び前記出力機器を制御可能であることを特徴とする請求項１に記載のモーション制御装置。 The motion control apparatus according to claim 1, wherein the drive device and the output device can be controlled using input data of a connected input device.
  3. 　請求項１又は請求項２に記載のモーション制御装置に接続される外部表示装置であって、
    　前記電子カム制御のカムパターンのパラメータを設定する画面と、前記出力機器の制御パラメータを設定する画面とを１画面に表示することを特徴とする外部表示装置。     An external display device connected to the motion control device according to claim 1 or 2,
    An external display device that displays a screen for setting parameters of a cam pattern for the electronic cam control and a screen for setting control parameters for the output device on one screen.
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